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uf_ros_lib package from xarm_ros2 repo

mbot_demo realsense_gazebo_plugin uf_ros_lib xarm_api xarm_controller xarm_description xarm_gazebo xarm_moveit_config xarm_moveit_servo xarm_msgs xarm_planner xarm_sdk

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Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/xarm-developer/xarm_ros2.git
VCS Type git
VCS Version humble
Last Updated 2025-03-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

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Maintainers

  • Vinman

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uf_ros_lib/Readme.md

uf_ros_lib

This package specifically implements some python libraries for easy direct use.

moveit_configs_builder

Because our moveit package supports many different robot arms, and the configuration files used are dynamically generated based on parameters, we cannot directly use the MoveitConfigsBuilder provided by the official moveit package. Here we implement MoveitConfigsBuilder and DualMoveitConfigsBuilder similarly for our moveit package.

Reference to moveit_configs_build from moveit.

Regarding planning pipe, only ompl is loaded by default. If you need other ones (chomp, pilz_industrial_motion_planner, stomp), you need to install them yourself and create configuration files in the corresponding configuration folders. For example, if xarm6 loads pilz_industrial_motion_planner, you need to create pilz_industrial_motion_planner_planning.yaml in xarm_moveit_config/config/xarm6. (Note: the pipes listed above are not supported by all ROS versions)

  • MoveItConfigsBuilder

    class MoveItConfigsBuilder(
      context: launch.launch_context.LaunchContext,
      controllers_name: 'fake_controllers' or 'controllers',
      **kwargs
    )
    

- context: current context, instance of launch.launch_context.LaunchContext
- __controllers_name__: 'controllers' if realrobot else 'fake_controllers' 
  The default file name loaded by the trajectory_execution method, such as *xarm_moveit_config/config/{robot}/{controllers_name}.yaml*
- kwargs: (key parameters and default values)
  - __robot_ip__: {robot_ip} if realrobot else ''
  - report_type: 'normal'
  - baud_checkset: True
  - default_gripper_baud: 2000000
  - __dof__: 5/6/7
  - __robot_type__: xarm/lite/uf850/xarm7_mirror
  - prefix: ''
  - hw_ns: 'xarm'
  - limited: False
  - effort_control: False
  - velocity_control: False
  - model1300: False
  - robot_sn: {robot_sn}
  - attach_to: 'world'
  - attach_xyz: '0 0 0'
  - attach_rpy: '0 0 0'
  - mesh_suffix: 'stl'
  - kinematics_suffix: ''
  - __ros2_control_plugin__: hardware interface plugin
    - FakeRobot: 'uf_robot_hardware/UFRobotFakeSystemHardware'
    - RealRobot: 'uf_robot_hardware/UFRobotSystemHardware'
    - GazeboRobot: 'gazebo_ros2_control/GazeboSystem'
  - ros2_control_params: the configuration file path loaded by gazebo_ros2_control
  - __add_gripper__: False
  - add_vacuum_gripper: False
  - __add_bio_gripper__: False
  - add_realsense_d435i: False
  - add_d435i_links: True
  - add_other_geometry: False
  - geometry_type: 'box'
  - geometry_mass: 0.1
  - geometry_height: 0.1
  - geometry_radius: 0.1
  - geometry_length: 0.1
  - geometry_width: 0.1
  - geometry_mesh_filename: ''
  - geometry_mesh_origin_xyz: '0 0 0'
  - geometry_mesh_origin_rpy: '0 0 0'
  - geometry_mesh_tcp_xyz: '0 0 0'
  - geometry_mesh_tcp_rpy: '0 0 0'

- __Example(FakeRobot)__: please refer to [demo_fake.launch.py](../xarm_moveit_config/launch/demo/demo_fake.launch.py) or [robot_moveit_fake.launch.py](../xarm_moveit_config/launch/_robot_moveit_fake.launch.py) for the example

      from launch_ros.actions import Node
      from launch.substitutions import LaunchConfiguration
      from uf_ros_lib.moveit_configs_builder import MoveItConfigsBuilder

      def launch_setup(context, *args, **kwargs):
        dof = LaunchConfiguration('dof', default=7)
        robot_type = LaunchConfiguration('robot_type', default='xarm')
        prefix = LaunchConfiguration('prefix', default='')
        hw_ns = LaunchConfiguration('hw_ns', default='xarm')
        add_gripper = LaunchConfiguration('add_gripper', default=False)
        add_bio_gripper = LaunchConfiguration('add_bio_gripper', default=False)
        
        moveit_configs = MoveItConfigsBuilder(
          context=context,
          controllers_name='fake_controllers',
          dof=dof,
          robot_type=robot_type,
          prefix=prefix,
          hw_ns=hw_ns,
          ros2_control_plugin='uf_robot_hardware/UFRobotFakeSystemHardware',
          add_gripper=add_gripper,
          add_bio_gripper=add_bio_gripper,
        ).to_moveit_configs()

        # moveit_configs.robot_description
        # moveit_configs.robot_description_semantic
        # moveit_configs.robot_description_kinematics
        # moveit_configs.planning_pipelines
        # moveit_configs.trajectory_execution
        # moveit_configs.planning_scene_monitor
        # moveit_configs.joint_limits
        # moveit_configs.to_dict()

        move_group_node = Node(
          package='moveit_ros_move_group',
          executable='move_group',
          output='screen',
          parameters=[
            moveit_configs.to_dict()
          ],
        )
        return move_group_node
      

- __Example(RealRobot)__: please refer to [demo_realmove.launch.py](../xarm_moveit_config/launch/demo/demo_realmove.launch.py) or [robot_moveit_realmove.launch.py](../xarm_moveit_config/launch/_robot_moveit_realmove.launch.py) for the example

      from launch_ros.actions import Node
      from launch.substitutions import LaunchConfiguration
      from uf_ros_lib.moveit_configs_builder import MoveItConfigsBuilder

      def launch_setup(context, *args, **kwargs):
        robot_ip = LaunchConfiguration('robot_ip')
        dof = LaunchConfiguration('dof', default=7)
        robot_type = LaunchConfiguration('robot_type', default='xarm')
        prefix = LaunchConfiguration('prefix', default='')
        hw_ns = LaunchConfiguration('hw_ns', default='xarm')
        add_gripper = LaunchConfiguration('add_gripper', default=False)
        add_bio_gripper = LaunchConfiguration('add_bio_gripper', default=False)

        moveit_configs = MoveItConfigsBuilder(
          context=context,
          controllers_name='controllers',
          robot_ip=robot_ip,
          dof=dof,
          robot_type=robot_type,
          prefix=prefix,
          hw_ns=hw_ns,
          ros2_control_plugin='uf_robot_hardware/UFRobotSystemHardware',
          add_gripper=add_gripper,
          add_bio_gripper=add_bio_gripper,
        ).to_moveit_configs()

        # moveit_configs.robot_description
        # moveit_configs.robot_description_semantic
        # moveit_configs.robot_description_kinematics
        # moveit_configs.planning_pipelines
        # moveit_configs.trajectory_execution
        # moveit_configs.planning_scene_monitor
        # moveit_configs.joint_limits
        # moveit_configs.to_dict()

        move_group_node = Node(
          package='moveit_ros_move_group',
          executable='move_group',
          output='screen',
          parameters=[
            moveit_configs.to_dict()
          ],
        )
        return move_group_node

  • DualMoveItConfigsBuilder

    class DualMoveItConfigsBuilder(
      context: launch.launch_context.LaunchContext,
      controllers_name: 'fake_controllers' or 'controllers',
      **kwargs
    )
    

- context: current context, instance of launch.launch_context.LaunchContext
- __controllers_name__: 'controllers' if realrobot else 'fake_controllers' 
  The default file name loaded by the trajectory_execution method, such as *xarm_moveit_config/config/{robot}/{controllers_name}.yaml*
- **kwargs: (key parameters and default values)
  - __robot_ip_1__: {robot_ip_1} if realrobot else ''
  - __robot_ip_2__: {robot_ip_2} if realrobot else ''
  - report_type_1: 'normal'
  - report_type_2: 'normal'
  - baud_checkset_1: True
  - baud_checkset_2: True
  - default_gripper_baud_1: 2000000
  - default_gripper_baud_2: 2000000
  - __dof_1__: 5/6/7
  - __dof_2__: 5/6/7
  - __robot_type_1__: xarm/lite/uf850/xarm7_mirror
  - __robot_type_2__: xarm/lite/uf850/xarm7_mirror
  - prefix_1: 'L_'
  - prefix_2: 'R_'
  - hw_ns: 'xarm'
  - limited: False
  - effort_control: False
  - velocity_control: False
  - model1300_1: 
  - model1300_2: 
  - robot_sn_1: 
  - robot_sn_2: 
  - mesh_suffix: 'stl'
  - kinematics_suffix_1: ''
  - kinematics_suffix_2: ''
  - __ros2_control_plugin__: hardware interface plugin
    - FakeRobot: 'uf_robot_hardware/UFRobotFakeSystemHardware'
    - RealRobot: 'uf_robot_hardware/UFRobotSystemHardware'
    - GazeboRobot: 'gazebo_ros2_control/GazeboSystem'
  - ros2_control_params: the configuration file path loaded by gazebo_ros2_control
  - __add_gripper_1__: False
  - __add_gripper_2__: False
  - add_vacuum_gripper_1: False
  - add_vacuum_gripper_2: False
  - __add_bio_gripper_1__: False
  - __add_bio_gripper_2__: False
  - add_realsense_d435i_1: False
  - add_realsense_d435i_2: False
  - add_d435i_links_1: True
  - add_d435i_links_2: True
  - add_other_geometry_1: False
  - add_other_geometry_2: False
  - geometry_type_1: 'box'
  - geometry_type_2: 'box'
  - geometry_mass_1: 0.1
  - geometry_mass_2: 0.1
  - geometry_height_1: 0.1
  - geometry_height_2: 0.1
  - geometry_radius_1: 0.1
  - geometry_radius_2: 0.1
  - geometry_length_1: 0.1
  - geometry_length_2: 0.1
  - geometry_width_1: 0.1
  - geometry_width_2: 0.1
  - geometry_mesh_filename_1: ''
  - geometry_mesh_filename_2: ''
  - geometry_mesh_origin_xyz_1: '0 0 0'
  - geometry_mesh_origin_xyz_2: '0 0 0'
  - geometry_mesh_origin_rpy_1: '0 0 0'
  - geometry_mesh_origin_rpy_2: '0 0 0'
  - geometry_mesh_tcp_xyz_1: '0 0 0'
  - geometry_mesh_tcp_xyz_2: '0 0 0'
  - geometry_mesh_tcp_rpy_1: '0 0 0'
  - geometry_mesh_tcp_rpy_2: '0 0 0'

- __Example(DualFakeRobot)__: please refer to [demo_dual_fake.launch.py](../xarm_moveit_config/launch/demo/demo_dual_fake.launch.py) or [dual_robot_moveit_fake.launch.py](../xarm_moveit_config/launch/_dual_robot_moveit_fake.launch.py) for the example

      from launch_ros.actions import Node
      from launch.substitutions import LaunchConfiguration
      from uf_ros_lib.moveit_configs_builder import DualMoveItConfigsBuilder

      def launch_setup(context, *args, **kwargs):
        dof_1 = LaunchConfiguration('dof_1', default=7)
        dof_2 = LaunchConfiguration('dof_2', default=7)
        robot_type_1 = LaunchConfiguration('robot_type_1', default='xarm')
        robot_type_2 = LaunchConfiguration('robot_type_2', default='xarm')
        prefix_1 = LaunchConfiguration('prefix_1', default='L_')
        prefix_2 = LaunchConfiguration('prefix_2', default='R_')
        hw_ns = LaunchConfiguration('hw_ns', default='xarm')
        add_gripper_1 = LaunchConfiguration('add_gripper_1', default=False)
        add_gripper_2 = LaunchConfiguration('add_gripper_2', default=False)
        add_bio_gripper_1 = LaunchConfiguration('add_bio_gripper_1', default=False)
        add_bio_gripper_2 = LaunchConfiguration('add_bio_gripper_2', default=False)

        moveit_configs = DualMoveItConfigsBuilder(
          context=context,
          controllers_name='fake_controllers',
          dof_1=dof_1,
          dof_2=dof_2,
          robot_type_1=robot_type_1,
          robot_type_2=robot_type_2,
          prefix_1=prefix_1,
          prefix_2=prefix_2,
          hw_ns=hw_ns,
          ros2_control_plugin='uf_robot_hardware/UFRobotFakeSystemHardware',
          add_gripper_1=add_gripper_1,
          add_gripper_2=add_gripper_2,
          add_bio_gripper_1=add_bio_gripper_1,
          add_bio_gripper_2=add_bio_gripper_2,
        ).to_moveit_configs()

        # moveit_configs.robot_description
        # moveit_configs.robot_description_semantic
        # moveit_configs.robot_description_kinematics
        # moveit_configs.planning_pipelines
        # moveit_configs.trajectory_execution
        # moveit_configs.planning_scene_monitor
        # moveit_configs.joint_limits
        # moveit_configs.to_dict()

        move_group_node = Node(
          package='moveit_ros_move_group',
          executable='move_group',
          output='screen',
          parameters=[
            moveit_configs.to_dict()
          ],
        )
        return move_group_node
      

- __Example(DualRealRobot)__: please refer to [demo_dual_realmove.launch.py](../xarm_moveit_config/launch/demo/demo_dual_realmove.launch.py) or [dual_robot_moveit_realmove.launch.py](../xarm_moveit_config/launch/_dual_robot_moveit_realmove.launch.py) for the example

      from launch_ros.actions import Node
      from launch.substitutions import LaunchConfiguration
      from uf_ros_lib.moveit_configs_builder import DualMoveItConfigsBuilder

      def launch_setup(context, *args, **kwargs):
        robot_ip_1 = LaunchConfiguration('robot_ip_1')
        robot_ip_2 = LaunchConfiguration('robot_ip_2')
        dof_1 = LaunchConfiguration('dof_1', default=7)
        dof_2 = LaunchConfiguration('dof_2', default=7)
        robot_type_1 = LaunchConfiguration('robot_type_1', default='xarm')
        robot_type_2 = LaunchConfiguration('robot_type_2', default='xarm')
        prefix_1 = LaunchConfiguration('prefix_1', default='L_')
        prefix_2 = LaunchConfiguration('prefix_2', default='R_')
        hw_ns = LaunchConfiguration('hw_ns', default='xarm')
        add_gripper_1 = LaunchConfiguration('add_gripper_1', default=False)
        add_gripper_2 = LaunchConfiguration('add_gripper_2', default=False)
        add_bio_gripper_1 = LaunchConfiguration('add_bio_gripper_1', default=False)
        add_bio_gripper_2 = LaunchConfiguration('add_bio_gripper_2', default=False)

        moveit_configs = DualMoveItConfigsBuilder(
          context=context,
          controllers_name='controllers',
          robot_ip_1=robot_ip_1,
          robot_ip_2=robot_ip_2,
          dof_1=dof_1,
          dof_2=dof_2,
          robot_type_1=robot_type_1,
          robot_type_2=robot_type_2,
          prefix_1=prefix_1,
          prefix_2=prefix_2,
          hw_ns=hw_ns,
          ros2_control_plugin='uf_robot_hardware/UFRobotSystemHardware',
          add_gripper_1=add_gripper_1,
          add_gripper_2=add_gripper_2,
          add_bio_gripper_1=add_bio_gripper_1,
          add_bio_gripper_2=add_bio_gripper_2,
        ).to_moveit_configs()

        # moveit_configs.robot_description
        # moveit_configs.robot_description_semantic
        # moveit_configs.robot_description_kinematics
        # moveit_configs.planning_pipelines
        # moveit_configs.trajectory_execution
        # moveit_configs.planning_scene_monitor
        # moveit_configs.joint_limits
        # moveit_configs.to_dict()

        move_group_node = Node(
          package='moveit_ros_move_group',
          executable='move_group',
          output='screen',
          parameters=[
            moveit_configs.to_dict()
          ],
        )
        return move_group_node
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